Vehicle control apparatus

Abstract

A vehicle control apparatus includes a first acquisition portion acquiring a captured image data outputted from an imaging portion that is provided at a vehicle and that images a surrounding of the vehicle, a second acquisition portion acquiring an inclination angle of the vehicle on a basis of a state information of the vehicle, the state information outputted from a vehicle state detection portion that is provided at the vehicle, and an output portion being configured to output an output image data to a display device, the output image data including the captured image data and an inclination angle display information indicating the inclination angle of the vehicle, the output portion changing a display method within the output image data in accordance with the inclination angle of the vehicle and outputting the output image data.

The invention claimed is: 
     
       1. A vehicle control apparatus comprising:
 a first acquisition portion acquiring captured image data outputted from an imaging portion that is provided at a vehicle and that images a surrounding area of the vehicle; 
 a second acquisition portion acquiring an inclination angle of the vehicle on a basis of state information of the vehicle, the state information outputted from a vehicle state detection portion that is provided at the vehicle; and 
 an output portion being configured to output output image data to a display device, the output image data including the captured image data and inclination angle display information indicating the inclination angle of the vehicle, the output portion changing a display method within the output image data in accordance with the inclination angle of the vehicle and outputting the output image data, 
 wherein
 the output portion outputs the output image data including the captured image data in response to the inclination angle of the vehicle being less than a predetermined first angle; 
 the output portion outputs the output image data including the captured image data and the inclination angle display information in response to the inclination angle of the vehicle being equal to or greater than the first angle; and 
 the output portion outputs the output image data including the captured image data and the inclination angle display information and changes the display method within a display region of the output image data in response to the inclination angle of the vehicle being equal to or greater than a predetermined second angle that is greater than the first angle. 
 
 
     
     
       2. The vehicle control apparatus according to  claim 1 , wherein the output portion changes a color in accordance with the inclination angle of the vehicle as the display method within the output image data. 
     
     
       3. The vehicle control apparatus according to  claim 1 , wherein the output portion outputs the output image data including the captured image data that is rotationally controlled on a basis of the inclination angle of the vehicle relative to a lateral direction, the lateral direction that is a direction included in a lateral plane orthogonal to a direction of gravity, by using inclination angle data of the vehicle, the inclination angle data acquired by the second acquiring portion. 
     
     
       4. The vehicle control apparatus according to  claim 1 , wherein
 the inclination angle includes a first inclination angle of the vehicle, the first inclination angle serving as a roll angle, and a second inclination angle of the vehicle, the second inclination angle serving as a pitch angle; 
 the display method includes a first display method and a second display method; 
 the output portion changes the first display method within a display region of the output image data in accordance with the roll angle; and 
 the output portion changes the second display method within the display region of the output image data in accordance with the pitch angle. 
 
     
     
       5. The vehicle control apparatus according to  claim 1 , wherein the output portion changes at least one of a color of the captured image data, a color of a display region excluding the captured image data and the inclination angle display information, and a color within the inclination angle display information as the display method. 
     
     
       6. The vehicle control apparatus according to  claim 1 , wherein the display device displays the output image data outputted from the output portion, the display device displaying an icon warning a driver with the output image data as the display method. 
     
     
       7. The vehicle control apparatus according to  claim 1 , wherein the display device displays the output image data outputted from the output portion, the display device displaying the output image data that changes a color at a region within the captured image data in accordance with a difference in height relative to a lateral plane as the display method. 
     
     
       8. A vehicle control apparatus comprising:
 a first acquisition portion acquiring captured image data outputted from an imaging portion that is provided at a vehicle and that images a surrounding area of the vehicle; 
 a second acquisition portion acquiring an inclination angle of the vehicle on a basis of state information of the vehicle, the state information outputted from a vehicle state detection portion that is provided at the vehicle; and 
 an output portion being configured to output output image data to a display device, the output image data including the captured image data and an inclination angle display information indicating the inclination angle of the vehicle, the output portion changing a display method within the output image data in accordance with the inclination angle of the vehicle and outputting the output image data, 
 wherein the display device displays the output image data outputted from the output portion, the display device displaying the output image data that changes a color at a region within the captured image data in accordance with a difference in height relative to a lateral plane as the display method. 
 
     
     
       9. The vehicle control apparatus according to  claim 8 , wherein the output portion changes a color in accordance with the inclination angle of the vehicle as the display method within the output image data. 
     
     
       10. The vehicle control apparatus according to  claim 8 , wherein the output portion outputs the output image data including the captured image data that is rotationally controlled on a basis of the inclination angle of the vehicle relative to a lateral direction, the lateral direction that is a direction included in a lateral plane orthogonal to a direction of gravity, by using inclination angle data of the vehicle, the inclination angle data acquired by the second acquiring portion. 
     
     
       11. The vehicle control apparatus according to  claim 8 , wherein
 the output portion outputs the output image data including the captured image data when the inclination angle of the vehicle is less than a predetermined first angle; 
 the output portion outputs the output image data including the captured image data and the inclination angle display information when the inclination angle of the vehicle is equal to or greater than the first angle; and 
 the output portion outputs the output image data including the captured image data and the inclination angle display information and changes the display method within a display region of the output image data when the inclination angle of the vehicle is equal to or greater than a predetermined second angle that is greater than the first angle. 
 
     
     
       12. The vehicle control apparatus according to  claim 8 , wherein
 the inclination angle includes a first inclination angle of the vehicle, the first inclination angle serving as a roll angle, and a second inclination angle of the vehicle, the second inclination angle serving as a pitch angle; 
 the display method includes a first display method and a second display method; 
 the output portion changes the first display method within a display region of the output image data in accordance with the roll angle; and 
 the output portion changes the second display method within the display region of the output image data in accordance with the pitch angle. 
 
     
     
       13. The vehicle control apparatus according to  claim 8 , wherein the output portion changes at least one of a color of the captured image data, a color of a display region excluding the captured image data and the inclination angle display information, and a color within the inclination angle display information as the display method. 
     
     
       14. The vehicle control apparatus according to  claim 8 , wherein the display device displays the output image data outputted from the output portion, the display device displaying an icon warning a driver with the output image data as the display method. 
     
     
       15. A vehicle control apparatus comprising:
 a first acquisition portion acquiring captured image data outputted from an imaging portion that is provided at a vehicle and that images a surrounding area of the vehicle; 
 a second acquisition portion acquiring an inclination angle of the vehicle on a basis of state information of the vehicle, the state information outputted from a vehicle state detection portion that is provided at the vehicle; and 
 an output portion being configured to output output image data to a display device, the output image data including the captured image data and inclination angle display information indicating the inclination angle of the vehicle, the output portion changing a display method within the output image data in accordance with the inclination angle of the vehicle and outputting the output image data, 
 wherein the inclination angle display information is displayed as an icon representing a current inclination angle of the vehicle, and 
 the output portion outputs the output image data including the captured image data that is rotationally controlled on a basis of the inclination angle of the vehicle relative to a lateral direction, the lateral direction is a direction included in a lateral plane orthogonal to a direction of gravity, by using inclination angle data of the vehicle, the inclination angle data is acquired by the second acquiring portion, 
 wherein a control portion is configured to perform the rotation control on the captured image data depending on a roll angle in a manner that a horizontal line included in a subject captured in the captured image data is substantially parallel to a lateral-direction side of a display device, the angle indicating an inclination around a front-rear axis of the vehicle calculated from acceleration data, and 
 the control portion is configured to correct an inclination of the captured image data by rotating the captured image data about a position coordinate set within the captured image data.